Difference between revisions of "Allegro Hand v4.0"
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*Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries | *Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries | ||
*Capable of holding up to 5kg | *Capable of holding up to 5kg | ||
− | *16 | + | *16 (4 fingers x 4 DOF ea.) independent joints |
− | *Support for real-time control | + | *Each joint gets current command |
+ | *Support for real-time control | ||
<br> | <br> | ||
[[Image:AH_4pics.jpg|border|450px]] | [[Image:AH_4pics.jpg|border|450px]] | ||
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<br><br> | <br><br> | ||
− | ==Allegro Hand | + | ==Allegro Hand User Manual== |
[[Image:AllegroManualIcon.jpg | link=http://wiki.wonikrobotics.com/AllegroHandWiki/images/a/a7/V4_AllegroHandUsersManual.pdf]] | [[Image:AllegroManualIcon.jpg | link=http://wiki.wonikrobotics.com/AllegroHandWiki/images/a/a7/V4_AllegroHandUsersManual.pdf]] | ||
[[File:v4_AllegroHandUsersManual_1.1.pdf]] | [[File:v4_AllegroHandUsersManual_1.1.pdf]] | ||
<br><br> | <br><br> | ||
− | ==Allegro Hand | + | ==Allegro Hand Programs== |
=== Software Git Repository=== | === Software Git Repository=== | ||
'''windows :''' [https://github.com/simlabrobotics/allegro_hand_windows_v4.git windows-project] <br> | '''windows :''' [https://github.com/simlabrobotics/allegro_hand_windows_v4.git windows-project] <br> | ||
'''linux :''' [https://github.com/simlabrobotics/allegro_hand_linux_v4.git linux-project] <br> | '''linux :''' [https://github.com/simlabrobotics/allegro_hand_linux_v4.git linux-project] <br> | ||
'''ROS :''' [https://github.com/simlabrobotics/allegro_hand_ros_v4 ros-kinetic-AllegroHand] <br> | '''ROS :''' [https://github.com/simlabrobotics/allegro_hand_ros_v4 ros-kinetic-AllegroHand] <br> | ||
− | |||
==Allegro Hand CAD File== | ==Allegro Hand CAD File== | ||
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robotics.biz@wonik.com | robotics.biz@wonik.com | ||
− | ==Getting Started | + | ==Getting Started== |
+ | [[File:AllegroHand - Troubleshooting & FAQ V1.01.pdf]] | ||
*[[Programming Guides v4.0]] | *[[Programming Guides v4.0]] | ||
*[[Mounting Information v4.0]] | *[[Mounting Information v4.0]] |
Latest revision as of 15:34, 19 December 2023
[edit] Features
Allegro Hand is a low-cost and highly adaptive robotic hand. |
With four fingers and sixteen independent current-controlled joints, it's the perfect platform for grasp and manipulation research. |
- Lightweight and portable anthropomorphic design
- Low-cost dexterous manipulation with applications in research and industry
- Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
- Capable of holding up to 5kg
- 16 (4 fingers x 4 DOF ea.) independent joints
- Each joint gets current command
- Support for real-time control
[edit] Tech Specs
Number of Fingers |
Four (4) fingers, including thumb | ||||||||
Degrees of Freedom |
4 fingers x 4 = 16 (Active) | ||||||||
Actuation |
| ||||||||
Weight |
| ||||||||
Joint Resolution |
| ||||||||
Communication |
| ||||||||
Payload |
5 (kg) | ||||||||
Power Requirement |
12~24V, 120W |
[edit] System Requirements
CPU |
Intel® Core™2 Duo or higher |
RAM |
at least 2GB |
HDD |
at least 2GB |
Graphics |
OpenGL 3.0 H/W Acceleration enabled with at least 64Mb of video RAM |
OS |
MS Windows® XP, MS Windows® Vista, MS Windows® 7 MS Windows® 8 Ubuntu 10.04-12.10 (ROS) Ubuntu 16.04 (ROS) |
Additional S/W |
MS Visual Studio® |
CAN Interface |
NI or PEAK CAN Note: Any CAN interface can be user-configured for use with the Allegro Hand. |
[edit] Product
The Allegro Hand comes with a simple software for developing and testing control algorithms for a variety of commercial robots. There are Linux version and Windows version.
[edit] In the Box
- Allegro Hand (Left or Right)
- Power Supply
- Allegro Hand stand
- CAN/Power cable (terminated on hand-end only)
- Protective Plastic Carrying Case
- Spare parts and tools
[edit] Allegro Hand User Manual
File:V4 AllegroHandUsersManual 1.1.pdf
[edit] Allegro Hand Programs
[edit] Software Git Repository
windows : windows-project
linux : linux-project
ROS : ros-kinetic-AllegroHand
[edit] Allegro Hand CAD File
Please, email us if you need Allegro Hand CAD STP file.
robotics.biz@wonik.com
[edit] Getting Started
File:AllegroHand - Troubleshooting & FAQ V1.01.pdf
- Programming Guides v4.0
- Mounting Information v4.0
- CAN Protocol v4.0
- Wiring for Allegro Hand v4.0
- LED signal of Allegro Hand v4.0
[edit] Purchasing
For a quote or any other inquiry, please contact us!
WONIK ROBOTICS
address | 4F, Wonik Bldg., Pangyo-ro 255-20, Bundang-gu, Seongnam-si, Gyunggi-do, 13486, KOREA |
phone | +82-31-8038-9180 |
fax | +82-31-8038-9190 |
robotics.biz@wonik.com |
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